In this study, we address the limitations inherent in most existing vehicle trajectory prediction methodologies that indiscriminately incorporate all agents within a predetermined proximity when accounting for inter-agent interactions. These approaches commonly employ attention-based architecture or graph neural networks for encoding interactions, which introduces three challenges: (i) The indiscriminate selection of all nearby agents substantially escalates the computational demands of the model, particularly in those interaction-rich scenarios. (ii) Moreover, the simplistic feature extraction of current time agents falls short of adequately capturing the nuanced dynamics of interactions. (iii) Compounded by the inherently low interpretability of attention mechanism and graph neural networks, there is a propensity for the model to allocate unreliable correlation coefficients to certain agents, adversely impacting the accuracy of trajectory predictions. To mitigate these issues, we introduce ASPILin, a novel approach that enhances the selection of interacting agents by considering their current and future lanes, extending this consideration across all historical frames. Utilizing the states of the agents, we estimate the nearest future distance between agents and the time needed to reach this distance. Then, combine these with their current distances to derive a physical correlation coefficient to encode interactions. Experiments conducted on popular trajectory prediction datasets demonstrate that our method is efficient and straightforward, outperforming other state-of-the-art methods.

Large 2D vision-language models (2D-LLMs) have gained significant attention by bridging Large Language Models (LLMs) with images using a simple projector. Inspired by their success, large 3D point cloud-language models (3D-LLMs) also integrate point clouds into LLMs. However, directly aligning point clouds with LLM requires expensive training costs, typically in hundreds of GPU-hours on A100, which hinders the development of 3D-LLMs. In this paper, we introduce MiniGPT-3D, an efficient and powerful 3D-LLM that achieves multiple SOTA results while training for only 27 hours on one RTX 3090. Specifically, we propose to align 3D point clouds with LLMs using 2D priors from 2D-LLMs, which can leverage the similarity between 2D and 3D visual information. We introduce a novel four-stage training strategy for modality alignment in a cascaded way, and a mixture of query experts module to adaptively aggregate features with high efficiency. Moreover, we utilize parameter-efficient fine-tuning methods LoRA and Norm fine-tuning, resulting in only 47.8M learnable parameters, which is up to 260x fewer than existing methods. Extensive experiments show that MiniGPT-3D achieves SOTA on 3D object classification and captioning tasks, with significantly cheaper training costs. Notably, MiniGPT-3D gains an 8.12 increase on GPT-4 evaluation score for the challenging object captioning task compared to ShapeLLM-13B, while the latter costs 160 total GPU-hours on 8 A800. We are the first to explore the efficient 3D-LLM, offering new insights to the community. Code and weights are available at https://github.com/TangYuan96/MiniGPT-3D.

Multi-task reinforcement learning (MTRL) demonstrate potential for enhancing the generalization of a robot, enabling it to perform multiple tasks concurrently. However, the performance of MTRL may still be susceptible to conflicts between tasks and negative interference. To facilitate efficient MTRL, we propose Task-Specific Action Correction (TSAC), a general and complementary approach designed for simultaneous learning of multiple tasks. TSAC decomposes policy learning into two separate policies: a shared policy (SP) and an action correction policy (ACP). To alleviate conflicts resulting from excessive focus on specific tasks' details in SP, ACP incorporates goal-oriented sparse rewards, enabling an agent to adopt a long-term perspective and achieve generalization across tasks. Additional rewards transform the original problem into a multi-objective MTRL problem. Furthermore, to convert the multi-objective MTRL into a single-objective formulation, TSAC assigns a virtual expected budget to the sparse rewards and employs Lagrangian method to transform a constrained single-objective optimization into an unconstrained one. Experimental evaluations conducted on Meta-World's MT10 and MT50 benchmarks demonstrate that TSAC outperforms existing state-of-the-art methods, achieving significant improvements in both sample efficiency and effective action execution.

Large-scale heterogeneous multiagent systems feature various realistic factors in the real world, such as agents with diverse abilities and overall system cost. In comparison to homogeneous systems, heterogeneous systems offer significant practical advantages. Nonetheless, they also present challenges for multiagent reinforcement learning, including addressing the non-stationary problem and managing an imbalanced number of agents with different types. We propose a Prioritized Heterogeneous League Reinforcement Learning (PHLRL) method to address large-scale heterogeneous cooperation problems. PHLRL maintains a record of various policies that agents have explored during their training and establishes a heterogeneous league consisting of diverse policies to aid in future policy optimization. Furthermore, we design a prioritized policy gradient approach to compensate for the gap caused by differences in the number of different types of agents. Next, we use Unreal Engine to design a large-scale heterogeneous cooperation benchmark named Large-Scale Multiagent Operation (LSMO), which is a complex two-team competition scenario that requires collaboration from both ground and airborne agents. We use experiments to show that PHLRL outperforms state-of-the-art methods, including QTRAN and QPLEX in LSMO.

We present a method to create storytelling visualization with time series data. Many personal decisions nowadays rely on access to dynamic data regularly, as we have seen during the COVID-19 pandemic. It is thus desirable to construct storytelling visualization for dynamic data that is selected by an individual for a specific context. Because of the need to tell data-dependent stories, predefined storyboards based on known data cannot accommodate dynamic data easily nor scale up to many different individuals and contexts. Motivated initially by the need to communicate time series data during the COVID-19 pandemic, we developed a novel computer-assisted method for meta-authoring of stories, which enables the design of storyboards that include feature-action patterns in anticipation of potential features that may appear in dynamically arrived or selected data. In addition to meta-storyboards involving COVID-19 data, we also present storyboards for telling stories about progress in a machine learning workflow. Our approach is complementary to traditional methods for authoring storytelling visualization, and provides an efficient means to construct data-dependent storyboards for different data-streams of similar contexts.

Chinese geographic re-ranking task aims to find the most relevant addresses among retrieved candidates, which is crucial for location-related services such as navigation maps. Unlike the general sentences, geographic contexts are closely intertwined with geographical concepts, from general spans (e.g., province) to specific spans (e.g., road). Given this feature, we propose an innovative framework, namely Geo-Encoder, to more effectively integrate Chinese geographical semantics into re-ranking pipelines. Our methodology begins by employing off-the-shelf tools to associate text with geographical spans, treating them as chunking units. Then, we present a multi-task learning module to simultaneously acquire an effective attention matrix that determines chunk contributions to extra semantic representations. Furthermore, we put forth an asynchronous update mechanism for the proposed addition task, aiming to guide the model capable of effectively focusing on specific chunks. Experiments on two distinct Chinese geographic re-ranking datasets, show that the Geo-Encoder achieves significant improvements when compared to state-of-the-art baselines. Notably, it leads to a substantial improvement in the Hit@1 score of MGEO-BERT, increasing it by 6.22% from 62.76 to 68.98 on the GeoTES dataset.

The cultural landscape of interactions with dialogue agents is a compelling yet relatively unexplored territory. It's clear that various sociocultural aspects -- from communication styles and beliefs to shared metaphors and knowledge -- profoundly impact these interactions. To delve deeper into this dynamic, we introduce cuDialog, a first-of-its-kind benchmark for dialogue generation with a cultural lens. We also develop baseline models capable of extracting cultural attributes from dialogue exchanges, with the goal of enhancing the predictive accuracy and quality of dialogue agents. To effectively co-learn cultural understanding and multi-turn dialogue predictions, we propose to incorporate cultural dimensions with dialogue encoding features. Our experimental findings highlight that incorporating cultural value surveys boosts alignment with references and cultural markers, demonstrating its considerable influence on personalization and dialogue quality. To facilitate further exploration in this exciting domain, we publish our benchmark publicly accessible at https://github.com/yongcaoplus/cuDialog.

Differential privacy (DP), as a rigorous mathematical definition quantifying privacy leakage, has become a well-accepted standard for privacy protection. Combined with powerful machine learning techniques, differentially private machine learning (DPML) is increasingly important. As the most classic DPML algorithm, DP-SGD incurs a significant loss of utility, which hinders DPML's deployment in practice. Many studies have recently proposed improved algorithms based on DP-SGD to mitigate utility loss. However, these studies are isolated and cannot comprehensively measure the performance of improvements proposed in algorithms. More importantly, there is a lack of comprehensive research to compare improvements in these DPML algorithms across utility, defensive capabilities, and generalizability. We fill this gap by performing a holistic measurement of improved DPML algorithms on utility and defense capability against membership inference attacks (MIAs) on image classification tasks. We first present a taxonomy of where improvements are located in the machine learning life cycle. Based on our taxonomy, we jointly perform an extensive measurement study of the improved DPML algorithms. We also cover state-of-the-art label differential privacy (Label DP) algorithms in the evaluation. According to our empirical results, DP can effectively defend against MIAs, and sensitivity-bounding techniques such as per-sample gradient clipping play an important role in defense. We also explore some improvements that can maintain model utility and defend against MIAs more effectively. Experiments show that Label DP algorithms achieve less utility loss but are fragile to MIAs. To support our evaluation, we implement a modular re-usable software, DPMLBench, which enables sensitive data owners to deploy DPML algorithms and serves as a benchmark tool for researchers and practitioners.

Prompt-tuning has emerged as an attractive paradigm for deploying large-scale language models due to its strong downstream task performance and efficient multitask serving ability. Despite its wide adoption, we empirically show that prompt-tuning is vulnerable to downstream task-agnostic backdoors, which reside in the pretrained models and can affect arbitrary downstream tasks. The state-of-the-art backdoor detection approaches cannot defend against task-agnostic backdoors since they hardly converge in reversing the backdoor triggers. To address this issue, we propose LMSanitator, a novel approach for detecting and removing task-agnostic backdoors on Transformer models. Instead of directly inverting the triggers, LMSanitator aims to invert the predefined attack vectors (pretrained models' output when the input is embedded with triggers) of the task-agnostic backdoors, which achieves much better convergence performance and backdoor detection accuracy. LMSanitator further leverages prompt-tuning's property of freezing the pretrained model to perform accurate and fast output monitoring and input purging during the inference phase. Extensive experiments on multiple language models and NLP tasks illustrate the effectiveness of LMSanitator. For instance, LMSanitator achieves 92.8% backdoor detection accuracy on 960 models and decreases the attack success rate to less than 1% in most scenarios.

Data is a critical asset in AI, as high-quality datasets can significantly improve the performance of machine learning models. In safety-critical domains such as autonomous vehicles, offline deep reinforcement learning (offline DRL) is frequently used to train models on pre-collected datasets, as opposed to training these models by interacting with the real-world environment as the online DRL. To support the development of these models, many institutions make datasets publicly available with opensource licenses, but these datasets are at risk of potential misuse or infringement. Injecting watermarks to the dataset may protect the intellectual property of the data, but it cannot handle datasets that have already been published and is infeasible to be altered afterward. Other existing solutions, such as dataset inference and membership inference, do not work well in the offline DRL scenario due to the diverse model behavior characteristics and offline setting constraints. In this paper, we advocate a new paradigm by leveraging the fact that cumulative rewards can act as a unique identifier that distinguishes DRL models trained on a specific dataset. To this end, we propose ORL-AUDITOR, which is the first trajectory-level dataset auditing mechanism for offline RL scenarios. Our experiments on multiple offline DRL models and tasks reveal the efficacy of ORL-AUDITOR, with auditing accuracy over 95% and false positive rates less than 2.88%. We also provide valuable insights into the practical implementation of ORL-AUDITOR by studying various parameter settings. Furthermore, we demonstrate the auditing capability of ORL-AUDITOR on open-source datasets from Google and DeepMind, highlighting its effectiveness in auditing published datasets. ORL-AUDITOR is open-sourced at https://github.com/link-zju/ORL-Auditor.